古の身体操法に学ぶ人間とロボットの動きの原理 : 人間型二足歩行ロボット「源兵衛」の「ナンバ歩き」から階段昇り降りへの展開

元データ 埼玉工業大学

概要

There is no robot around us in our society at the current stage and also there will be no robot in the future if we define a robot as a machine working in the arena of offices, homes, and disaster sites, etc. outside the factories and also continue the present conventional research and development (R & D) style in robot projects. We proposed the concept of Human-Robotics, where robots and engineers should learn and develop in collaboration with each other in the real world on the basis of the dexterity of nature, life and human with Subsumption Architecture (SA) in the previous paper. We showed as the case studies the simple self-sustained humanlike robust walking & running & instantaneous turn NANBA of humanoid biped robot GENBE based on distributed control of physical body in a martial art utilizing instability without ZMP (Zero Moment Point) control, which uses only small active power with simple chaotic limit cycle utilizing instability, further developing into autonomous shock avoidance during falling down owing to being pushed from backside and instantaneous rising. Instability makes the natural movement and can be applied to walking of a physically handicapped person, rehabilitation, sports, and so on. We also showed the case study of an autonomous robot without SMPA (Sense-Model-Plan-Act) framework. In this paper, we realized the JIZAI movement of humanoid biped robot GENBE based on the distributed control of physical body in a martial art from NANBA Walk to going up and down the stairs making full use of instability as a source of driving force.

著者

川副 嘉彦 埼玉工業大学工学部
川副 嘉彦 埼玉工業大学工学部ヒューマンロボット学科
川副 嘉彦 埼玉工業大学工学部ヒューマン・ロボット学科
川副 嘉彦 埼玉工業大学 工学部ヒューマン・ロボット学科
川副 嘉彦 埼玉工業大学 大学院工学系研究科 システム工学専攻
川副 嘉彦 埼玉工業大学

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